Yaskawa LEGEND-MC - Manual (Page 204)

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LEGEND-MC User’s Manual
RC (Record)
[General]
DESCRIPTION:
The RC command begins recording for the Automatic Record Array Mode (RA). RC 0 stops recording.
ARGUMENTS: RC n,m where
n is an integer 1 thru 8 and specifies 2
n
samples between records. RC 0 stops recording.
m is optional and specifies the number of records to be recorded. If m is not specified, the DM number will
be used. A negative number for m causes circular recording over array addresses 0 to m-1. The address for
the array element for the next recording can be interrogated with _RD.
USAGE:
OPERAND USAGE:
_RC contains status of recording '1' if recording, '0' if not recording.
RELATED COMMANDS:
EXAMPLES:
While Moving Yes Minimum n Value 0
In a Program Yes Maximum n Value 8
Command Line Yes Default n Value ---
Can be Interrogated Yes Minimum m Value -1
Used as an Operand Yes Maximum m Value 8000
Default m Value ---
Default Format ---
Distributed Control No, Local
"DM" Dimension Array
"RD" Record Data
"RA" Record Array Mode
#RECORD Record
DM Torque[1000] Define Array
RA Torque[] Specify Record Mode
RD _TT Specify Data Type
RC 2 Begin recording, set 4 servo samples between
records
JG 1000;BG Begin motion
#A;JP #A,_RC=1 Loop until done
MG "DONE RECORDING" Print message
EN End program